I'm piecing together code to broadcast iOS sensor data to a socket over UPD for use with microcontroller frameworks. I'm starting with a focus on accelerometer and gyroscope parameters, and working towards support for gps later. This is meant specifically to work with The beaglebone (http://beagleboard.org/bone) and
UDP is being handled by AsyncUdpSocket. The library is public domain, originally written by Dustin Voss, and now maintained by Deusty and the Cocoa community. https://github.com/roustem/AsyncSocket
Gyroscope and Accelerometer code originally from a tutorial by Hersh Bhargava http://h2micro.com, http://www.youtube.com/watch?v=Xk5cJlhePCI